// -*- mode: c++ -*-
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#ifndef JSK_RECOGNITION_UTILS_COLOR_UTILS_H_
#define JSK_RECOGNITION_UTILS_COLOR_UTILS_H_

#include <std_msgs/ColorRGBA.h>

namespace jsk_recognition_utils
{
  /**
   * @brief
   * Convert std_msgs::ColorRGBA to cv::Scalar in RGB order.
   * It expects 0-1 values in std_msgs::ColorRGBA.
   */
  inline cv::Scalar colorROSToCVRGB(const std_msgs::ColorRGBA& ros_color)
  {
    return cv::Scalar(ros_color.r * 255,
                      ros_color.g * 255,
                      ros_color.b * 255);
  }

  /**
   * @brief
   * Convert std_msgs::ColorRGBA to cv::Scalar in BGR order.
   * It expects 0-1 values in std_msgs::ColorRGBA.
   */
  inline cv::Scalar colorROSToCVBGR(const std_msgs::ColorRGBA& ros_color)
  {
    return cv::Scalar(ros_color.b * 255,
                      ros_color.g * 255,
                      ros_color.r * 255);
  }
}

#endif
